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Search indexed NASA NTRS and DOE OSTI research on propulsion, heat transfer, battery materials and energy systems. Follow report and document links to the original sources.

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At least 325 records · Page 18
All sourcesNASA NTRSDOE OSTI
NASA NTRS1990

Automated control of hierarchical systems using value-driven methods

An introduction is given to the Value-driven methodology, which has been successfully applied to solve a variety of difficult decision, control, and optimization problems. Many real-world decision processes (e.g., those encountered in scheduling, allocation, and command and control) involve a hierarchy of complex planning considerations. For such problems it is virtually impossible to define a fixed set of rules that will operate satisfactorily over the full range of probable contingencies. Decision Science Applications' value-driven methodology offers a systematic way of automating the intuitive, common-sense approach used by human planners. The inherent responsiveness of value-driven systems to user-controlled priorities makes them particularly suitable for semi-automated applications in which the user must remain in command of the systems operation. Three examples of the practical application of the approach in the automation of hierarchical decision processes are discussed: the TAC Brawler air-to-air combat simulation is a four-level computerized hierarchy; the autonomous underwater vehicle mission planning system is a three-level control system; and the Space Station Freedom electrical power control and scheduling system is designed as a two-level hierarchy. The methodology is compared with rule-based systems and with other more widely-known optimization techniques.

Pugh, George E.↗
NASA NTRS1990

Space Transportation Avionics Technology Symposium. Volume 1: Executive summary

The focus of the symposium was to examine existing and planned avionics technology processes and products and to recommend necessary changes for strengthening priorities and program emphases. Innovative changes in avionics technology development and design processes, identified during the symposium, are needed to support the increasingly complex, multi-vehicle, integrated, autonomous space-based systems. Key technology advances make such a major initiative viable at this time: digital processing capabilities, integrated on-board test/checkout methods, easily reconfigurable laboratories, and software design and production techniques.

Source record↗
NASA NTRS1989

Periodic gaits for the CMU ambler

The configuration of the Carnegie Mellon University Ambler, a six legged autonomous walking vehicle for exploring Mars, enables the recovery of a trailing leg past the leading leg to reduce the energy expenditure in terrain interactions. Gaits developed for this unprecedented configuration are described. A stability criterion was developed which ensures stability of the vehicle in the event of failure of any one of the supporting legs. Periodic gaits developed for the Ambler utilize the Ambler's unique abilities, and continuously satisfy the stability criterion.

Mahalingam, Swaminathan↗
NASA NTRS1989

The flight telerobotic servicer: NASA's first operational space robot

Alternatives to the exploration of Mars by direct human presence are under consideration by both the United States and the Soviet Union. In these concepts, autonomous surface vehicles would navigate the planet performing a variety of detailed exploratory functions such as mapping, seismic measurements, sample collection and analysis. Both of these approaches to the exploration of Mars depend to a high degree on the ability of robotic machinery to perform complex functions without real time human direction. Closer to home and in time, robotics will begin to play a role in space operations in the construction and maintenance of Space Station Freedom. The Flight Telerobotic Servicer Project is introduced as an element of the Space Station Freedom, and its objectives and some special challenges it faces are discussed.

Fuechsel, Charles F.↗
NASA NTRS1990

Space Transportation Avionics Technology Symposium. Volume 2: Conference Proceedings

The focus of the symposium was to examine existing and planned avionics technology processes and products and to recommend necessary changes for strengthening priorities and program emphases. Innovative changes in avionics technology development and design processes are needed to support the increasingly complex, multi-vehicle, integrated, autonomous space-based systems. Key technology advances make such a major initiative viable at this time: digital processing capabilities, integrated on-board test/checkout methods, easily reconfigurable laboratories, and software design and production techniques.

Source record↗
NASA NTRS1990

A Personnel Launch System for safe and efficient manned operations

Several Conceptual designs for a simple, rugged Personnel Launch System (PLS) are presented. This system could transport people to and from Low Earth Orbit (LEO) starting in the late 1990's using a new modular Advanced Launch System (ALS) developed for the Space Exploration Initiative (SEI). The PLS is designed to be one element of a new space transportation architecture including heavy-lift cargo vehicles, lunar transfer vehicles, and multiple-role spcecraft such as the current Space Shuttle. The primary role of the PLS would be to deliver crews embarking on lunar or planetary missions to the Space Station, but it would also be used for earth-orbit sortie missions, space rescue missions, and some satellite servicing missions. The PLS design takes advantage of emerging electronic and structures technologies to offer a robust vehicle with autonomous operating and quick turnaround capabilities. Key features include an intact abort capability anywhere in the operating envelope, and elimination of all toxic propellants to streamline ground operations.

Petro, Andrew J.↗
NASA NTRS1991

Toward autonomous driving: The CMU Navlab. II - Architecture and systems

A description is given of EDDIE, the architecture for the Navlab mobile robot which provides a toolkit for building specific systems quickly and easily. Included in the discussion are the annotated maps used by EDDIE and the Navlab's road-following system, called the Autonomous Mail Vehicle, which was built using EDDIE and its annotated maps as a basis. The contributions of the Navlab project and the lessons learned from it are examined.

Thorpe, Charles↗
NASA NTRS1992

Automated Power-Distribution System

Autonomous power-distribution system includes power-control equipment and automation equipment. System automatically schedules connection of power to loads and reconfigures itself when it detects fault. Potential terrestrial applications include optimization of consumption of power in homes, power supplies for autonomous land vehicles and vessels, and power supplies for automated industrial processes.

Ashworth, Barry↗
NASA NTRS1992

Planetary surface exploration: MESUR/autonomous lunar rover

Planetary surface exploration micro-rovers for collecting data about the Moon and Mars was designed by the Department of Mechanical Engineering at the University of Idaho. The goal of both projects was to design a rover concept that best satisfied the project objectives for NASA-Ames. A second goal was to facilitate student learning about the process of design. The first micro-rover is a deployment mechanism for the Mars Environmental SURvey (MESUR) Alpha Particle/Proton/X-ray instruments (APX). The system is to be launched with the sixteen MESUR landers around the turn of the century. A Tubular Deployment System and a spiked-legged walker was developed to deploy the APX from the lander to the Martian surface. While on Mars the walker is designed to take the APX to rocks to obtain elemental composition data of the surface. The second micro-rover is an autonomous, roving vehicle to transport a sensor package over the surface of the moon. The vehicle must negotiate the lunar-terrain for a minimum of one year by surviving impacts and withstanding the environmental extremes. The rover is a reliable track-driven unit that operates regardless of orientation which NASA can use for future lunar exploratory missions. A detailed description of the designs, methods, and procedures which the University of Idaho design teams followed to arrive at the final designs are included.

Stauffer, Larry↗
NASA NTRS1992

Ocean time-series near Bermuda: Hydrostation S and the US JGOFS Bermuda Atlantic time-series study

Bermuda is the site of two ocean time-series programs. At Hydrostation S, the ongoing biweekly profiles of temperature, salinity and oxygen now span 37 years. This is one of the longest open-ocean time-series data sets and provides a view of decadal scale variability in ocean processes. In 1988, the U.S. JGOFS Bermuda Atlantic Time-series Study began a wide range of measurements at a frequency of 14-18 cruises each year to understand temporal variability in ocean biogeochemistry. On each cruise, the data range from chemical analyses of discrete water samples to data from electronic packages of hydrographic and optics sensors. In addition, a range of biological and geochemical rate measurements are conducted that integrate over time-periods of minutes to days. This sampling strategy yields a reasonable resolution of the major seasonal patterns and of decadal scale variability. The Sargasso Sea also has a variety of episodic production events on scales of days to weeks and these are only poorly resolved. In addition, there is a substantial amount of mesoscale variability in this region and some of the perceived temporal patterns are caused by the intersection of the biweekly sampling with the natural spatial variability. In the Bermuda time-series programs, we have added a series of additional cruises to begin to assess these other sources of variation and their impacts on the interpretation of the main time-series record. However, the adequate resolution of higher frequency temporal patterns will probably require the introduction of new sampling strategies and some emerging technologies such as biogeochemical moorings and autonomous underwater vehicles.

Michaels, Anthony F.↗
NASA NTRS1992

Automated in situ observations of upper ocean biogeochemistry, bio-optics, and physics and their potential use for global studies

The processes controlling the flux of carbon in the upper ocean have dynamic ranges in space and time of at least nine orders of magnitude. These processes depend on a broad suite of inter-related biogeochemical, bio-optical, and physical variables. These variables should be sampled on scales matching the relevant phenomena. Traditional ship-based sampling, while critical for detailed and more comprehensive observations, can span only limited portions of these ranges because of logistical and financial constraints. Further, remote observations from satellite platforms enable broad horizontal coverage which is restricted to the upper few meters of the ocean. For these main reasons, automated subsurface measurement systems are important for the fulfillment of research goals related to the regional and global estimation and modeling of time varying biogeochemical fluxes. Within the past few years, new sensors and systems capable of autonomously measuring several of the critical variables have been developed. The platforms for deploying these systems now include moorings and drifters and it is likely that autonomous underwater vehicles (AUV's) will become available for use in the future. Each of these platforms satisfies particular sampling needs and can be used to complement both shipboard and satellite observations. In the present review, (1) sampling considerations will be summarized, (2) examples of data obtained from some of the existing automated in situ sampling systems will be highlighted, (3) future sensors and systems will be discussed, (4) data management issues for present and future automated systems will be considered, and (5) the status of near real-time data telemetry will be outlined. Finally, we wish to make it clear at the outset that the perspectives presented here are those of the authors and are not intended to represent those of the United States JGOFS program, the International JGOFS program, NOAA's C&GC program, or other global ocean programs.

Dickey, Tommy D.↗
NASA NTRS1993

Autonomous GPS/INS navigation experiment for Space Transfer Vehicle

An experiment to validate the concept of developing an autonomous integrated spacecraft navigation system using on board Global Positioning System (GPS) and Inertial Navigation System (INS) measurements is described. The feasibility of integrating GPS measurements with INS measurements to provide a total improvement in spacecraft navigation performance, i.e. improvement in position, velocity and attitude information, was previously demonstrated. An important aspect of this research is the automatic real time reconfiguration capability of the system designed to respond to changes in a spacecraft mission under the control of an expert system.

Upadhyay, Triveni N.↗
NASA NTRS1992

Planetary surface exploration MESUR/autonomous lunar rover

Planetary surface exploration micro-rovers for collecting data about the Moon and Mars have been designed by the Department of Mechanical Engineering at the University of Idaho. The goal of both projects was to design a rover concept that best satisfied the project objectives for NASA/Ames. A second goal was to facilitate student learning about the process of design. The first micro-rover is a deployment mechanism for the Mars Environmental Survey (MESUR) Alpha Particle/Proton/X-ray (APX) Instrument. The system is to be launched with the 16 MESUR landers around the turn of the century. A Tubular Deployment System and a spiked-legged walker have been developed to deploy the APX from the lander to the Martian Surface. While on Mars, the walker is designed to take the APX to rocks to obtain elemental composition data of the surface. The second micro-rover is an autonomous, roving vehicle to transport a sensor package over the surface of the moon. The vehicle must negotiate the lunar terrain for a minimum of one year by surviving impacts and withstanding the environmental extremes. The rover is a reliable track-driven unit that operates regardless of orientation that NASA can use for future lunar exploratory missions. This report includes a detailed description of the designs and the methods and procedures which the University of Idaho design teams followed to arrive at the final designs.

Stauffer, Larry↗
NASA NTRS2000

In-Space Transportation for Geo Space Solar Satellites

Space solar power satellites have the potential to provide abundant quantities of electricity for use on Earth. One concept, the Sun Tower, can be assembled in geostationary orbit from pieces transferred from Earth. The cost of transportation from Earth is one of the major hurdles to space solar power. This study found that a two-stage rocket launch vehicle with autonomous solar-electric transfer can provide the transportation at prices close to the goal of $800/kg

Martin, James A.↗
NASA NTRS1997

Neural Network Based Sensory Fusion for Landmark Detection

NASA is planning to send numerous unmanned planetary missions to explore the space. This requires autonomous robotic vehicles which can navigate in an unstructured, unknown, and uncertain environment. Landmark based navigation is a new area of research which differs from the traditional goal-oriented navigation, where a mobile robot starts from an initial point and reaches a destination in accordance with a pre-planned path. The landmark based navigation has the advantage of allowing the robot to find its way without communication with the mission control station and without exact knowledge of its coordinates. Current algorithms based on landmark navigation however pose several constraints. First, they require large memories to store the images. Second, the task of comparing the images using traditional methods is computationally intensive and consequently real-time implementation is difficult. The method proposed here consists of three stages, First stage utilizes a heuristic-based algorithm to identify significant objects. The second stage utilizes a neural network (NN) to efficiently classify images of the identified objects. The third stage combines distance information with the classification results of neural networks for efficient and intelligent navigation.

Kumbla, Kishan -K.↗
NASA NTRS2001

Ocean-Science Mission Needs: Real-Time AUV Data for Command, Control, and Model Inputs

Predictive models for tides, hydrodynamics, and bio-optical properties affecting the visibility and buoyancy of coastal waters are needed to evaluate the safety of personnel and equipment engaged in maritime operations under potentially hazardous conditions. Predicted currents can be markedly different for two-layer systems affected by terrestrial runoff than for well-mixed conditions because the layering decouples the surface and bottom Ekman layers and rectifies the current response to oscillatory upwelling-and downwelling-favorable winds. Standard ocean models (e.g. Princeton Ocean Model) require initial-and boundary data on the physical and optical properties of the multilayered water column to provide accurate simulations of heat budgets and circulation. Two observational systems are designed to measure vertically structured conditions on the West Florida Shelf (WFS): a tethered buoy network and an autonomous underwater vehicle (AUV) observational system. The AUV system is described with a focus on the observational systems that challenge or limit the communications command and control network for various types of measurement programs. These include vertical oscillatory missions on shelf transects to observe the optical and hydrographic properties of the water column, and bottom-following missions for measuring the bottom albedo. Models of light propagation, absorption, and conversion to heat as well as determination of the buoyancy terms for physical models require these measurements. High data rates associated with video bottom imagery are the most challenging for the real-time, command and control communications system, but they are met through a combination of loss-less and lossy data-compression methods, depending upon the data-rate of the radio links.

Carder, Kendall L.↗
NASA NTRS2003

Experimental Evaluation of Verification and Validation Tools on Martian Rover Software

To achieve its science objectives in deep space exploration, NASA has a need for science platform vehicles to autonomously make control decisions in a time frame that excludes intervention from Earth-based controllers. Round-trip light-time is one significant factor motivating autonomy capability, another factor is the need to reduce ground support operations cost. An unsolved problem potentially impeding the adoption of autonomy capability is the verification and validation of such software systems, which exhibit far more behaviors (and hence distinct execution paths in the software) than is typical in current deepspace platforms. Hence the need for a study to benchmark advanced Verification and Validation (V&V) tools on representative autonomy software. The objective of the study was to access the maturity of different technologies, to provide data indicative of potential synergies between them, and to identify gaps in the technologies with respect to the challenge of autonomy V&V. The study consisted of two parts: first, a set of relatively independent case studies of different tools on the same autonomy code, second a carefully controlled experiment with human participants on a subset of these technologies. This paper describes the second part of the study. Overall, nearly four hundred hours of data on human use of three different advanced V&V tools were accumulated, with a control group that used conventional testing methods. The experiment simulated four independent V&V teams debugging three successive versions of an executive controller for a Martian Rover. Defects were carefully seeded into the three versions based on a profile of defects from CVS logs that occurred in the actual development of the executive controller. The rest of the document is structured a s follows. In section 2 and 3, we respectively describe the tools used in the study and the rover software that was analyzed. In section 4 the methodology for the experiment is described; this includes the code preparation, seeding of defects, participant training and experimental setup. Next we give a qualitative overview of how the experiment went from the point of view of each technology; model checking (section 5), static analysis (section 6), runtime analysis (section 7) and testing (section 8). The find section gives some preliminary quantitative results on how the tools compared.

Brat, Guillaume↗
NASA NTRS2004

Aerial Explorers and Robotic Ecosystems

A unique bio-inspired approach to autonomous aerial vehicle, a.k.a. aerial explorer technology is discussed. The work is focused on defining and studying aerial explorer mission concepts, both as an individual robotic system and as a member of a small robotic "ecosystem." Members of this robotic ecosystem include the aerial explorer, air-deployed sensors and robotic symbiotes, and other assets such as rovers, landers, and orbiters.

Young, Larry A.↗